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<title>Doxygen: pcl::registration::TransformationEstimationSVDScale&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d_scale-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::registration::TransformationEstimationSVDScale&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</div>  </div>
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<p><code>#include &lt;<a class="el" href="transformation__estimation__svd__scale_8h_source.html">transformation_estimation_svd_scale.h</a>&gt;</code></p>
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类 pcl::registration::TransformationEstimationSVDScale&lt; PointSource, PointTarget, Scalar &gt; 继承关系图:</div>
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  <img src="classpcl_1_1registration_1_1_transformation_estimation_s_v_d_scale.png" usemap="#pcl::registration::TransformationEstimationSVDScale_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" alt=""/>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:ade8505e120f5a7cd3b7f0f2e884e0b30"><td class="memItemLeft" align="right" valign="top"><a id="ade8505e120f5a7cd3b7f0f2e884e0b30"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d_scale.html">TransformationEstimationSVDScale</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a0e711fe3bc226c49b2c8a959419b3d91"><td class="memItemLeft" align="right" valign="top"><a id="a0e711fe3bc226c49b2c8a959419b3d91"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d_scale.html">TransformationEstimationSVDScale</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="memitem:a1a1b46f9ea9bcb9d7e8145983a1675de"><td class="memItemLeft" align="right" valign="top"><a id="a1a1b46f9ea9bcb9d7e8145983a1675de"></a>
typedef <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">TransformationEstimationSVD</a>&lt; PointSource, PointTarget, Scalar &gt;::Matrix4&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
<tr class="separator:a1a1b46f9ea9bcb9d7e8145983a1675de"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1registration_1_1_transformation_estimation_s_v_d')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:ac0303d80b743930c160fa3c16876e1e6 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memItemLeft" align="right" valign="top"><a id="ac0303d80b743930c160fa3c16876e1e6"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">TransformationEstimationSVD</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">TransformationEstimationSVD</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="memitem:a55ed792254a6571219f55d5dd60a7804 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memItemLeft" align="right" valign="top"><a id="a55ed792254a6571219f55d5dd60a7804"></a>
typedef <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt;::Matrix4&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
<tr class="separator:a55ed792254a6571219f55d5dd60a7804 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:a07897a083da1df8960c5888a5374fc02 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top"><a id="a07897a083da1df8960c5888a5374fc02"></a>
typedef Eigen::Matrix&lt; float, 4, 4 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
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<tr class="memitem:a0b20a4f0bf5ab8ba875e98a97d33aff9 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top"><a id="a0b20a4f0bf5ab8ba875e98a97d33aff9"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a5e5af204000fd2ca1490b6cae58d1695 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a87c3c1c8048ddc24c172e5ffa341c98f"><td class="memItemLeft" align="right" valign="top"><a id="a87c3c1c8048ddc24c172e5ffa341c98f"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d_scale.html#a87c3c1c8048ddc24c172e5ffa341c98f">TransformationEstimationSVDScale</a> ()</td></tr>
<tr class="memdesc:a87c3c1c8048ddc24c172e5ffa341c98f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inherits from <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">TransformationEstimationSVD</a>, but forces it to not use the Umeyama method <br /></td></tr>
<tr class="separator:a87c3c1c8048ddc24c172e5ffa341c98f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:a70e8c902cec810b4430f50e77465cb00 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a70e8c902cec810b4430f50e77465cb00">TransformationEstimationSVD</a> (bool use_umeyama=true)</td></tr>
<tr class="memdesc:a70e8c902cec810b4430f50e77465cb00 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a70e8c902cec810b4430f50e77465cb00">更多...</a><br /></td></tr>
<tr class="separator:a70e8c902cec810b4430f50e77465cb00 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8e5a51823fded01fb75c2d082c5e49c inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#ab8e5a51823fded01fb75c2d082c5e49c">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:ab8e5a51823fded01fb75c2d082c5e49c inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#ab8e5a51823fded01fb75c2d082c5e49c">更多...</a><br /></td></tr>
<tr class="separator:ab8e5a51823fded01fb75c2d082c5e49c inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fe2656eeacf42f2a49db0851651c5ac inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a4fe2656eeacf42f2a49db0851651c5ac">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a4fe2656eeacf42f2a49db0851651c5ac inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a4fe2656eeacf42f2a49db0851651c5ac">更多...</a><br /></td></tr>
<tr class="separator:a4fe2656eeacf42f2a49db0851651c5ac inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d4911a7ea2ee1bc54635f2059b31c8b inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a1d4911a7ea2ee1bc54635f2059b31c8b">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a1d4911a7ea2ee1bc54635f2059b31c8b inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a1d4911a7ea2ee1bc54635f2059b31c8b">更多...</a><br /></td></tr>
<tr class="separator:a1d4911a7ea2ee1bc54635f2059b31c8b inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c3276b3f506d08339686a6d0feaf990 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a2c3276b3f506d08339686a6d0feaf990">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a2c3276b3f506d08339686a6d0feaf990 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using SVD.  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a2c3276b3f506d08339686a6d0feaf990">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">更多...</a><br /></td></tr>
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<tr class="memitem:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">更多...</a><br /></td></tr>
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<tr class="memitem:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">更多...</a><br /></td></tr>
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<tr class="memitem:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a24b6ba0736daf1850e69154274ba3838"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d_scale.html#a24b6ba0736daf1850e69154274ba3838">getTransformationFromCorrelation</a> (const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;cloud_src_demean, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid_src, const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;cloud_tgt_demean, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a24b6ba0736daf1850e69154274ba3838"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt'  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d_scale.html#a24b6ba0736daf1850e69154274ba3838">更多...</a><br /></td></tr>
<tr class="separator:a24b6ba0736daf1850e69154274ba3838"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:a101a408eddee97434c8d5cebfc3c099a inherit pro_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a101a408eddee97434c8d5cebfc3c099a">estimateRigidTransformation</a> (<a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointSource &gt; &amp;source_it, <a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointTarget &gt; &amp;target_it, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a101a408eddee97434c8d5cebfc3c099a inherit pro_methods_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target  <a href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a101a408eddee97434c8d5cebfc3c099a">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_s_v_d')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">pcl::registration::TransformationEstimationSVD&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:a395a2b2f9c5d85e883b0b81ec08c4c5b inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_s_v_d"><td class="memItemLeft" align="right" valign="top"><a id="a395a2b2f9c5d85e883b0b81ec08c4c5b"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>use_umeyama_</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename Scalar = float&gt;<br />
class pcl::registration::TransformationEstimationSVDScale&lt; PointSource, PointTarget, Scalar &gt;</h3>

<p><b><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html">TransformationEstimationSVD</a></b> implements SVD-based estimation of the transformation aligning the given correspondences. Optionally the scale is estimated. Note that the similarity transform might not be optimal for the underlying Frobenius Norm.</p>
<dl class="section note"><dt>注解</dt><dd>The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float. </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Suat Gedikli </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a24b6ba0736daf1850e69154274ba3838"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a24b6ba0736daf1850e69154274ba3838">&#9670;&nbsp;</a></span>getTransformationFromCorrelation()</h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d_scale.html">pcl::registration::TransformationEstimationSVDScale</a>&lt; PointSource, PointTarget, Scalar &gt;::getTransformationFromCorrelation </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src_demean</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>centroid_src</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, Eigen::Dynamic, Eigen::Dynamic &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt_demean</em>, </td>
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          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>centroid_tgt</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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<p>Obtain a 4x4 rigid transformation matrix from a correlation matrix H = src * tgt' </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src_demean</td><td>the input source cloud, demeaned, in Eigen format </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">centroid_src</td><td>the input source centroid, in Eigen format </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt_demean</td><td>the input target cloud, demeaned, in Eigen format </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">centroid_tgt</td><td>the input target cloud, in Eigen format </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant 4x4 rigid transformation matrix </td></tr>
  </table>
  </dd>
</dl>

<p>重载 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a95dd96b2e6cce3a1add3ce7648434134">pcl::registration::TransformationEstimationSVD&lt; PointSource, PointTarget, float &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  transformation_matrix.setIdentity ();</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">// Assemble the correlation matrix H = source * target&#39;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 3&gt; H = (cloud_src_demean * cloud_tgt_demean.transpose ()).topLeftCorner (3, 3);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="comment">// Compute the Singular Value Decomposition</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  Eigen::JacobiSVD&lt;Eigen::Matrix&lt;Scalar, 3, 3&gt; &gt; svd (H, Eigen::ComputeFullU | Eigen::ComputeFullV);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 3&gt; u = svd.matrixU ();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 3&gt; v = svd.matrixV ();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="comment">// Compute R = V * U&#39;</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">if</span> (u.determinant () * v.determinant () &lt; 0)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; 3; ++x)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      v (x, 2) *= -1;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  Eigen::Matrix&lt;Scalar, 3, 3&gt; R = v * u.transpose ();</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// rotated cloud</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  Eigen::Matrix&lt;Scalar, 4, 4&gt; R4; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  R4.block (0, 0, 3, 3) = R;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  R4 (0, 3) = 0;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  R4 (1, 3) = 0;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  R4 (2, 3) = 0;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  R4 (3, 3) = 1;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; src_ = R4 * cloud_src_demean;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">float</span> scale1, scale2;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordtype">double</span> sum_ss = 0.0f, sum_tt = 0.0f, sum_tt_ = 0.0f;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> corrIdx = 0; corrIdx &lt; cloud_src_demean.cols (); ++corrIdx)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    sum_ss += cloud_src_demean (0, corrIdx) * cloud_src_demean (0, corrIdx);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    sum_ss += cloud_src_demean (1, corrIdx) * cloud_src_demean (1, corrIdx);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    sum_ss += cloud_src_demean (2, corrIdx) * cloud_src_demean (2, corrIdx);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    sum_tt += cloud_tgt_demean (0, corrIdx) * cloud_tgt_demean (0, corrIdx);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    sum_tt += cloud_tgt_demean (1, corrIdx) * cloud_tgt_demean (1, corrIdx);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    sum_tt += cloud_tgt_demean (2, corrIdx) * cloud_tgt_demean (2, corrIdx);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    sum_tt_ += cloud_tgt_demean (0, corrIdx) * src_ (0, corrIdx);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    sum_tt_ += cloud_tgt_demean (1, corrIdx) * src_ (1, corrIdx);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    sum_tt_ += cloud_tgt_demean (2, corrIdx) * src_ (2, corrIdx);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  scale1 = sqrt (sum_tt / sum_ss);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  scale2 = sum_tt_ / sum_ss;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordtype">float</span> scale = scale2;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  transformation_matrix.topLeftCorner (3, 3) = scale * R;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; Rc (scale * R * centroid_src.head (3));</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  transformation_matrix.block (0, 3, 3, 1) = centroid_tgt. head (3) - Rc;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="transformation__estimation__svd__scale_8h_source.html">transformation_estimation_svd_scale.h</a></li>
<li>registration/include/pcl/registration/impl/<a class="el" href="transformation__estimation__svd__scale_8hpp_source.html">transformation_estimation_svd_scale.hpp</a></li>
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